On-ine Iteration Gain Scheduling Idea: Find features of the online response 1. What is it? due to set point or load disturbances 2. How to find schedules Modify controller settings based on the observed features 3. Applicatio Features: damping d and overshoot o Controller modified based on heuristic rules Easy for PI more difficult for PID Prior informatic Pre-tuning Gain Scheduling How to Find schedules Controller Select scheduling variables Make control design for different Operating operating conditions Command Control Use automatic tuning Process Transformations Example of scheduling variables Production rate · Machine speed Mach number and dynamic pressure e K.J. Astrom and BWittenmarkOn-line Iteration Idea: Find features of the online response due to set point or load disturbances. Modify controller settings based on the observed features. e1 e2 e3 Tp Features: damping d and overshoot o d
e3 − e2 e1 − e2 o
−e2 e1 Controller modified based on heuristic rules. Easy for PI more difficult for PID. • Prior information • Pre-tuning Gain Scheduling 1. What is it? 2. How to find schedules? 3. Applications 4. Conclusions Gain Scheduling Process schedule Gain Output Control signal Controller parameters Operating condition Command signal Controller Example of scheduling variables • Production rate • Machine speed • Mach number and dynamic pressure How to Find Schedules? • Select scheduling variables • Make control design for different operating conditions • Use automatic tuning • Transformations c K. J. Åström and B. Wittenmark 5